Method and apparatus for treating the teats of an animal

ABSTRACT

In an automatic milking installation including a robot arm ( 2 ) with a gripper ( 3 ) for attaching teat cups ( 4 ) to the teats of an animal, e.g. a cow, to be milked, for applying a teat dip to the teats after milking different members, such as spray nozzles ( 5   a   , 5   b ), dipping cups ( 5   c   , 5   d ) and sponge or cloth rollers ( 5   e ), are provided for applying different teat dip compositions. Under the control of a computer, the robot arm collects the member ( 5 ) appropriate for supplying the selected composition and takes it to a position appropriate for application of that composition. The selection can e effected in dependence upon the teat skin condition, e.g. detected by a camera ( 15 ) and/or environmental conditions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a national application filed under 35 U.S.C. §371 asa national phase of international application PCT/EP01/05785. Priorityis claimed pursuant to 35 U.S.C. §119 from European application No.00305277.6, filed Jun. 22, 2000.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not Applicable

INCORPORATION-BY-REFERENCE OF MATERIAL SUBMITTED ON A COMPACT DISC

Not Applicable

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention is concerned with the treatment of animal teats,especially but not necessarily exclusively in connection with a milkingoperation, the treatment involving the application of a topicalsubstance to the outer skin surfaces of the teats. The invention isapplicable in particular to the application of a teat dip to the teatsof an animal at the end of an automatic milking procedure when the teatcups used for milking have been removed, although the invention couldalso be employed, for example, for treating animal teats as apreliminary step prior to milking, if this was desirable.

2. Description of Related Art

A primary purpose for applying a teat dip to the teats of an animal isto guard against infection, especially mastitis to which milking animalsare susceptible, and teat dips comprising a disinfectant are well known.However, teat dips can also have other functions, such as to protect theteats against environmental conditions, such as intense sun or prolongedwetness, or to condition the teats, for example by skin moisturising, tocombat the detrimental effects which can be suffered as a consequence ofrepeated milking in an automatic milking plant. It can also in somecases be beneficial for the teat dip to include a medication fortreating skin injuries or ailments. There can as a consequence bevarying demands with respect to a teat dip composition, possibly fromone animal to another in the same herd or even between different teatsof the same animals, or at different times of milking of the sameanimal.

In recent times fully automatic milking machines have been developedwhich are capable of milking animals, cows in particular, withoutrequiring any personnel to be present. These automatic milking machinesgenerally comprise a robot arm which attaches the teat cups to therespective teats of the udder of the cow. When not in use the teat cupscan be held in a storage rack, e.g. as disclosed in WO-A-00/04767, orthey can be carried on the robot arm, e.g. as described in EP-A-0535754.It has been proposed to include in a robotic milking machine a spraydevice which can be operated to spray liquid disinfectant onto theteats, or over the entire udder of a cow, after the cow has been milked.Thus, in the robot arm described in EP-A-0535754 a spray nozzle isfixedly mounted on the robot arm and is actuated to produce a flat sprayof liquid which is directed across the udder. WO-A-00/04767 on the otherhand has a spray device which is normally positioned on a holding rackand is collected by the robot arm when the teats are to be sprayed.These known teat spraying arrangements have a drawback in that theyprovide only for all cows milked in the same stall to have theirudders/teats sprayed with the same liquid, and the nozzles are adaptedto spray liquids with certain properties and allow little scope formodifying the teat dip composition in accordance with particularrequirements.

BRIEF SUMMARY OF THE INVENTION

The aim of the present invention is to eliminate, or at least alleviatethis drawback by providing far greater choice and versatility in teattreatment, with a view to maintaining animal teats in good and healthycondition. In accordance with the invention there is provided anapparatus for applying a topical composition to at least a part of anudder, in particular a teat, of an animal, comprising a robot arm, and acomposition applying member positionable by the robot arm for applyingthe topical composition to the teat, characterised in that a pluralityof composition applying members are provided for applying differentrespective topical compositions, and a control device is operable for aselected one of the plurality of composition applying members to bepositioned by the robot arm with respect to the teat to be treated andto apply the respective topical composition to the teat.

Most conveniently the robot arm is the same robot arm as that used toattach teat cups to the teats of an animal in an automatic milkinginstallation, but a separate robot arm could be used if desired.

It is possible for a plurality of composition applying members,especially spray nozzles, to be fixedly mounted on the robot arm, with arespective spray nozzle being actuated when selected for applying theparticular composition delivered through that nozzle. Of course, thenozzles would then be connected to respective supplies of differenttopical compositions. In a preferred embodiment, however, the robot armis arranged to collect the selected composition applying member from apredetermined standby location and to return the composition applyingmember to the standby location when the teat treatment is completed.Conveniently, the robot arm is equipped with a gripping device operableto grasp and release the selected composition applying member inaccordance with programmed control of the robot arm. With thisembodiment one or more of the composition applying members may comprisea spray nozzle, but it is also convenient for use of a compositionapplying member comprising a container, in particular a dipping cup orbottle, containing the composition to be applied and into which the teatis dipped by manipulating the container so that the teat is insertedthrough an opening therein and becomes immersed in the containercontents. A dipping device of this form can be used to apply a greatervariety of topical compositions than can be applied effectively througha spray nozzle such compositions including lotions, creams, sun screens,etc as well as the liquids which are also suitable for application byspraying. It has, for example, been found that a teat dip consisting ofa greasy liquid can be beneficial when applied to the teats offrequently milked cows, especially during hot climatic conditions whenthe teats can be exposed to intense sun, and greasy liquids do not lendthemselves to spraying. Of course, it is possible for an apparatusaccording to the invention to include one composition applying member inthe form of a spray nozzle for applying a liquid of relatively lowviscosity and another composition applying member in the form of adipping container for applying a more viscous teat dip composition.Furthermore, composition applying members of other kinds can be usedalso, including a wiping element, e.g. comprising a cloth or sponge,which may be impregnated with or carry, for example, a viscidcomposition of udder grease which is applied by wiping the teat.

Having regard to the foregoing the present invention also resides in anautomatic milking installation for milking animals, comprising a robotarm having a gripper for collecting teat cups from locations at whichthe teat cups are positioned when not being used for milking andattaching the teat cups to the teats of animal to be milked, a dippingcontainer for holding a composition to be applied to a teat of theanimal after completion of milking the animal and having an openingthrough which the teat is insertable into the container to be immersedin the container contents, and a support for positioning the dippingcontainer in a predetermined standby location, the dipping containerbeing arranged to be grasped by the gripper and to be moved by the robotarm between the standby position and a position in which the containeris applied over the teat to be treated with the teat inserted into thecontainer opening.

The present invention also provides an apparatus for applying a topicalcomposition to at least a part of an udder, in particular a teat, of ananimal, comprising a robot arm and a composition applying meanspositionable by the robot arm for applying the topical composition tothe teat, characterised in that the composition applying means areoperable to apply different topical compositions, and a control deviceis arranged to control the robot arm and composition applying means fora selected topical composition to be applied to a teat in accordancewith information relating the animal and/or environmental conditions.

In accordance with a further aspect the present invention provides amethod of treating at least a part of an udder, in particular a teat, ofan animal by applying a topical composition thereto, the methodcomprising the steps of positioning a composition applying member bymeans of a robot arm for applying the topical composition to the teat,and applying the composition, characterised in that the compositionapplying member is selected from a plurality of composition applyingmembers each for applying a different respective topical composition.

As indicated above, the composition applying members may have respectivestandby locations with the selection of the particular member to be usedto treat a teat being effected by the robot arm collecting that memberfrom its standby location, to which it is then returned by the robot armwhen the teat treatment is completed. It is possible for two or more ofthe composition applying members to be incorporated in a common unit,which unit is collected from a standby location when a compositionapplying member incorporated therein is to be used to treat a teat, andthe control device then ensuring that the correct composition applyingmember incorporating in the common unit is operated to apply theselected topical composition. Which composition applying member, andhence which topical composition, is to be selected for treatment of theteat of an animal may be determined, conveniently by the control device,in accordance with data relating to that specific animal. Thus,information relating to individual cows may be gathered, suitably at thetimes that the cows are milked, and stored, e.g. in a computer, for usein deciding which teat dip composition should be applied after the nextmilking. More especially, information on the skin conditions of theteats of the animals can be gathered by a sensing device, which mayconveniently comprise a camera. A picture analysis carried out on thecamera output can be employed to detect teat inflammation and/ortraumas, including various skin irritations such as rashes or cracks,which can be a cause of distress to an animal especially during milking.Additionally or alternatively, data relating to the environment of theanimals, in particular prevailing climate conditions, may be stored andused as a basis for selecting the topical composition, and thereby thecorresponding composition applying member to be utilised for treatmentof the teats of an animal. Parameters relating to the surroundingenvironment which may be taken into account in this context include,temperature, air humidity, sun intensity and others. A computer can beprogrammed to make the most appropriate selection of the topicalcomposition to be applied, and thereby the composition applying memberto be used to apply it to a teat. Although it is possible to make asingle selection for all the teats of one animal, the invention includesmaking a separate selection for each teat, which can be advantageoussince not all teats of the same udder will suffer the same injuries andinfections and each teat can then be treated in the most beneficial wayfor the subsisting conditions of that individual teat.

In one particular application of the method and apparatus of theinvention the control device could be programmed to apply one topicalcomposition to the teats of an animal after certain milking occasionsand to apply another topical composition at other milking occasions.This will be appropriate for example if teats require treatment by aparticular teat dip composition only periodically. According to anotherembodiment one teat dip composition could be applied during summerconditions and another could be applied during winter conditions.

Also within the scope of the present invention is a method of treatingat least a part of an udder, in particular a tea, of an animal byapplying a topical composition thereto, the method comprising the stepsof positioning a composition applying means for applying the topicalcomposition to the teat, and applying the composition, characterised inthat different topical compositions are provided and are applicable bythe composition applying means, a topical composition is selected forapplication to a teat in dependence upon information relating to theanimal and/or environmental conditions, and the composition applyingmeans is operated to apply the selected topical composition.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

To facilitate a clear understanding of the invention an embodiment of amilking plant in accordance with the invention, and its operation, willnow be described in more detail with reference being made to theaccompanying drawings in which:—

FIG. 1 is a schematic perspective view of part of a milking stall in anautomatic milking installation; and

FIG. 2 is a schematic cross-sectional view showing a teat in the courseof having a teat dip composition applied by means of a dipping cup.

DETAILED DESCRIPTION OF THE INVENTION

The milking installation represented in FIG. 1 comprises a milking stall1 in which a cow stands during a milking operation. Disposed alongsidethe stall is a robot with a robot arm 2 provided at its free end with agripper 3 having a pair of jaws 3 a, 3 b which are controllable for thegripper to grasp and release objects positioned between the jaws,including teat cups 4 which are attached to the respective teats of theudder of the cow during milking, and topical composition applyingmembers 5 described in more detail below. A holding rack 8 is disposedat the side of the stall 1 and serves to support the four teat cups 4when they are not in use, the robot arm being operable to collect eachof the teat cups 4 in turn from the rack 8 and to attach them to therespective teats of the cow. At the end of milking the teat cups can bereturned to the rack 8 by the robot arm or alternatively a separateretraction mechanism can be used as known per se.

Also mounted at the side of the milking stall 1 is a second rack 9 whichsupports the teat dip applying members 5 in predetermined standbylocations ready for use when required. As illustrated there are twospray nozzles 5 a, 5 b operable to apply relatively low viscosity liquidteat dip by spraying the teats and/or the whole udder, and two dippingcups 5 c, 5 d which can be used to apply low viscosity liquid teat dipsor more viscous teat dips such as greasy liquids, or lotions which cannot be easily applied by spraying. Shown supported on a separate bracket10 at the side of the milking stall 1 is a further topical compositionapplying member which comprises a pair of sponge or cloth rollers 5 eadapted for use in applying a composition such as an udder grease by awiping action against the teats.

At the end of a milking procedure, when the teat cups have been detachedfrom the teats, a computer incorporated in the milking installationdetermines from data stored therein the most appropriate of theavailable topical compositions for teat treatment to be applied to ateat and the robot arm is controlled to collect the correspondingcomposition applying member 5 from its standby location and to take theselected member to a position for applying the composition. In the casethat one of the spray nozzles 5 a, 5 b is selected, the nozzle will betaken to a position suitable for spraying the teat to be treated. If oneof the dipping cups 5 c,5 d is selected, the robot arm takes the cupbelow the udder and lifts it directly below the teat so that the teat isinserted into the opening at the top of the cup and dips into, i.e.becomes immersed in the composition contained in the dipping cup, asillustrated in FIG. 2. Should the wiping rollers 5 e be selected therobot arm will collect the rollers from the bracket 10 and take them toa position so that they act on and apply the corresponding topicalcomposition onto the teat being treated. When one teat has been treatedthe robot arm may take the selected composition applying member 5directly to another teat, or may return it to its standby locationwhereafter a decision may be taken as to the appropriate topicalcomposition to be applied to the next teat to be treated and theprocedure will then be repeated for that teat.

As mentioned above, the stored data on which decisions are basedregarding the composition applying member to be selected for treating ateat may include environmental information and information on the teatskin condition. For gathering the latter information a camera 15 can beprovided, as shown mounted on the robot arm 2 in FIG. 1.

The spray nozzles 5 a, 5 b are depicted in the drawing to have supplyhoses 12 a, 12 b attached, the corresponding liquid teat dips beingdelivered through these hoses from respective supplies 13 a, 13 b whenthese nozzles are used. The dipping cups 5 c, 5 d are also shown to havedelivery tubes 12 c, 12 d attached so that teat dip compositions can bedelivered from respective supplies 13 c, 13 d to ensure that thesedipping cups are maintained sufficiently charged for effective dippingof teats, but this is not essential and there could, for example, be afilling arrangement for delivery of the appropriate teat dipcompositions into the dipping cups 5 c, 5 d when they are disposed intheir standby locations. The teat dipping container 5 schematicallyshown in FIG. 2 with an animal teat 20 inserted therein has an inlet 21towards the bottom of the container and an outlet 22 near the top of thecontainer. By means of the inlet and outlet, the hoses connected theretoand a circulating device such as a pump, fluid teat dip 23 can becirculated through the container to ensure that the container is filledwhen a teat is inserted and hence the teat is fully immersed in the teatdip. The container has a sealing lip or rim 24 which surrounds theopening through which the teat is inserted and which seals against theudder 19 at the base of the teat 20 to avoid teat dip being lost throughthe opening 25 when the teat dip is circulated through the container.

Modifications to the described method and apparatus are of coursepossible without departing from the scope of the invention as defined bythe claims which follow. As an example, instead of the teat dip applyingmembers constituted by the spray nozzles 5 a, 5 b, dipping cups 5 c, 5 dand wiping rollers 5 e being separate so that the robot arm collects aselected member for teat treatment, a plurality of teat dip applyingmembers may be incorporated in a single unit which is collected from astandby location and taken under the cow, the computer can then bearranged so that the selected member, i.e. dipping cup, spray nozzle orwiping member, is operated to apply the chosen teat dip. Anotherpossibility is to have one teat dip applying member, e.g. a spray nozzleconnected to supplies of different teat dips via valves which areoperated so that a selected teat dip is applied to a teat.

1. Apparatus for selecting a liquid topical composition capable offorming a topical application on a surface of at least a part of anudder, in particular a teat, of an animal from an available multiplicityof such compositions, each composition of said multiplicity thereofbeing different than other compositions of said multiplicity thereof,and thereafter applying the selected composition as a topicalapplication on such a surface, said apparatus comprising: a sourceproviding a respective separate supply of each composition of saidmultiplicity thereof; an applicator adapted and arranged for applying atopical composition selected from said multiplicity thereof and receivedfrom said source as a topical application on said surface, saidapplicator normally being located at a predetermined standby location; arobot arm operably associated with the applicator and actuatable formoving said applicator from said standby location and into a positionfor applying the selected composition as said topical application onsaid surface, said predetermined standby location normally being remotefrom said robot arm, said applicator being completely separated from therobot arm when it is in said standby location; and a control deviceoperatively connected to the robot arm for actuating the latter to causethe robot arm to move the applicator from said standby location and intosaid position and thereafter cause the applicator to apply the selectedcomposition to said surface, said control device being adapted andarranged to (1) receive and analyze information relating to thecondition of said surface and/or the climatic conditions of the animalenvironment, (2) use such information to select an appropriate topicalcomposition from among said multiplicity thereof to be applied as saidtopical application on said surface, and (3) manipulate the robot armaccordingly.
 2. Apparatus as set forth in claim 1, wherein said liquidtopical composition comprises a liquid of relatively low viscosity, aviscous liquid, a greasy liquid, a lotion, a cream, a sun screen, asprayable liquid or an udder grease.
 3. Apparatus as set forth in claim1, wherein the control device is operable to cause the robot arm tocollect the applicator from the standby location and to thereafter moveit to said position for applying the composition.
 4. Apparatus as setforth in claim 1, comprising a respective separate applicator for eachcomposition included in said multiplicity of compositions, said robotarm being operably associated with said applicators and actuatable forselective and respective individual movement of each said applicatorinto a position for applying a selected composition to said surface. 5.Apparatus as set forth in claim 4, wherein the robot arm is arranged tocollect a selected applicator from its respective predetermined standbylocation and to return the selected applicator to its standby locationwhen the application of composition to said part of said udder iscompleted.
 6. Apparatus as set forth in claim 5, wherein the robot armis equipped with a gripping device operable to grasp and to release theselected applicator.
 7. Apparatus as set forth in claim 5, wherein twoor more of the applicators are incorporated in a common unit which therobot arm collects from a predetermined standby location, the operationof a selected applicator incorporated in the common unit beingcontrolled by the control device for applying the respectivecomposition.
 8. Apparatus as set forth in claim 4, wherein said part ofsaid udder is a teat, and at least one of the applicators comprises acontainer with an opening for a teat to be dipped into the compositioncontained in the container via said opening.
 9. Apparatus as set forthin claim 4, wherein at least one of the applicators comprises a spraynozzle.
 10. Apparatus as set forth in claim 4, wherein at least one ofthe applicators comprises a wiping element for applying the respectivecomposition by wiping said part of said udder.
 11. Apparatus as setforth in claim 4, wherein the control device is arranged to select theapplicator and thereby the composition to be used for treating said partof said udder of an animal in accordance with data relating to thatspecific animal.
 12. Apparatus as set forth in claim 11, wherein thedata relating to the specific animal is gathered from one or moremilkings of that animal and stored in a computer.
 13. Apparatus as setforth in claim 11, comprising a sensing device for detecting a skincondition of said part of said udder, and wherein the control device isarranged to select an applicator in dependence upon the detectedcondition of said part of said udder.
 14. Apparatus as set forth inclaim 13, wherein the sensing device comprises a camera.
 15. Apparatusas set forth in claim 14, wherein the control device includes means foranalyzing an output from said camera for detecting skin traumas. 16.Apparatus as set forth in claim 4, wherein the control device isarranged to select one of the applicators in accordance with storeddata, the stored data comprising information relating to the environmentof the animal to which a selected composition is to be applied. 17.Apparatus as set forth in claim 4, wherein said part of said udder is ateat, the robot arm is included in an automatic milking installation,and the robot arm is operable to attach a teat cup to a teat of ananimal.
 18. A method of applying a liquid topical composition as atopical application on a surface of at least a part of an udder, inparticular a teat, of an animal, said method comprising: providing, at asingle milking stall location, a multiplicity of compositions includingat least two different compositions chosen from among skin treatmentcompositions and skin protective compositions; selecting a liquidtopical composition from said multiplicity of such compositions;applying the selected composition as a topical application on saidsurface using an applicator charged with the selected composition;positioning the applicator at a predetermined standby location at saidstall, and thereafter moving the applicator into a position for applyingthe selected composition as a topical application on said surface usinga robot arm operatively connected to a control device, saidpredetermined standby location normally being remote from said robotarm, said applicator being completely separated from the robot arm whenit is in said standby location, said control device being adapted andarranged to (1) receive and analyze information relating to thecondition of said surface and/or the climatic conditions of the animalenvironment, (2) use such information to select an appropriate topicalcomposition from among said multiplicity thereof to be applied as saidtopical application on said surface, and (3) manipulating the robot armaccordingly so as to cause the robot arm to move the applicator fromsaid standby location and into said position.
 19. A method as set forthin claim 18, wherein said liquid topical composition comprises a liquidof relatively low viscosity, a viscous liquid, a greasy liquid, alotion, a cream, a sun screen, a sprayable liquid or an udder grease.20. A method as set forth in claim 18, wherein the control device isoperable to cause the robot arm to collect the applicator from thestandby location and to thereafter move it to said position for applyingthe composition.
 21. A method as set forth in claim 18, wherein saidselecting comprises selecting an applicator from among a plurality ofsaid applicators, each said applicator being charged with a differentone of the compositions of said multiplicity thereof.
 22. A method asset forth in claim 21, wherein the applicators have standby locationsand the selection of the applicator to be used to apply a selectedcomposition to said part of said udder is effected by collecting theselected applicator from its standby location using a robot arm.
 23. Amethod as set forth in claim 22, wherein two or more of said applicatorsare incorporated in a common unit having a standby location and therobot arm is used to collect the common unit from its standby locationand move the common unit and thereby a selected applicator into itscomposition applying location.
 24. A method as set forth in claim 21,wherein information relating to individual animals is stored and anapplicator is selected for applying a selected composition to said partof said udder of an animal in dependence upon the stored informationrelating to that specific individual animal.
 25. A method as set forthin claim 24, wherein said part of said udder is a teat and theinformation relating to individual animals includes the skin conditionsof the teats of the animals.
 26. A method as set forth in claim 25,wherein information relating to the skin condition of a teat of ananimal is gathered by means of a camera.
 27. A method as set forth inclaim 26, wherein the information gathered by the camera is analyzed todetect skin traumas.
 28. A method as set forth in claim 21, wherein saidpart of said udder is a teat and each teat of the udder of an animal hasa selected composition applied to it in turn, and immediately prior tothe application of a selected composition to a given teat an applicatoris selected for application of the selected composition to the giventeat.
 29. A method as set forth in claim 21, wherein data onenvironmental conditions is stored and the selection of a composition isdependent on the stored data.
 30. A method as set forth in claim 21,wherein said part of said udder is a teat and at least one applicatorcomprises a container holding one of said compositions, and uponselection of this composition the robot arm takes the container to theteat to be treated and causes the teat to be immersed into thecomposition held in the container.
 31. Apparatus for selecting a liquidtopical composition for a topical application on a surface of a teat, ofan animal from an available multiplicity of such compositions, andthereafter applying the selected composition as a topical application onsuch a surface, said apparatus comprising: a source providing arespective separate supply of each composition of said multiplicitythereof; a plurality of different applicators, each separately mountedat a side of the milking stall, each applicator adapted to apply aselected topical composition as a topical application on said surface; arobot arm operably associated with said applicators and actuatable formovement of a selected applicator into a position for applying theselected composition as said topical application on said surface; and acontrol device operatively connected to the robot arm for actuating thelatter and causing the same to locate said selected applicator in saidposition, said control device (1) receiving and analyzing informationrelating to the condition of said surface and/or the climatic conditionsof the animal environment, (2) using such information to select anappropriate topical composition from among said multiplicity thereof tobe applied as said topical application on said surface, and (3)manipulating the robot arm accordingly.
 32. A method of applying aliquid topical composition as a topical application on a surface of ateat, of an animal, said method comprising: providing, at a singlemilking stall location, a multiplicity of compositions including atleast two different compositions chosen from among skin treatmentcompositions and skin protective compositions; selecting a liquidtopical composition from said multiplicity of such compositions;applying the selected composition as a topical application on saidsurface using an applicator selected from a plurality of differentapplicators each mounted on a side of the milking stall charged with theselected composition; and positioning the selected applicator in aposition for applying the selected composition as a topical applicationon said surface using a control device operatively connected to therobot arm, said control device (1) receiving and analyzing informationrelating to the condition of said surface and/or the climatic conditionsof the animal environment, (2) using such information to select anappropriate topical composition from among said multiplicity thereof tobe applied as said topical application on said surface, and (3)manipulating the robot arm accordingly.